Ford: fix cruise state for engaged

commaai · Dec 28, 2021 · 2ecd27f · 2ecd27f
1 parent b7bc27e
commit 2ecd27f
Showing 1 changed file with 1 addition and 2 deletions.
diff --git a/board/safety/safety_ford.h b/board/safety/safety_ford.h
@@ -92,8 +92,7 @@ static int ford_rx_hook(CANPacket_t *to_push) {
       brake_pressed = ((GET_BYTE(to_push, 0) & 0x30U) >> 4) == 1U;
 
       // Signal: CcStat_D_Actl
-      unsigned int cruise_state = (GET_BYTE(to_push, 1) & 0x07U);
-      bool cruise_engaged = (cruise_state == 0U) || (cruise_state == 3U);
+      bool cruise_engaged = (GET_BYTE(to_push, 1) & 0x07U) == 5U;
 
       // Enter controls on rising edge of stock ACC, exit controls if stock ACC disengages
       if (cruise_engaged && !cruise_engaged_prev) {